Ultrasound tracking apparatus for disposable biopsy needles

ABSTRACT

A system for tracking a medical device includes an introducer (20). Two or more sensors (22) are disposed along a length of the introducer and are spaced apart along the length. An interface (32) is configured to connect to the introducer such that the introducer and the interface operatively couple to and support the medical device wherein the two or more sensors are configured to provide feedback for positioning and orienting the medical device using medical imaging.

RELATED APPLICATION INFORMATION

This application is a Continuation of application Ser. No. 15/324,137,filed Jan. 5, 2017 which is the U.S. National Phase application under 35U.S.C. § 371 of International Application No. PCT/IB2015/055352, whichclaims priority to provisional application Ser. No. 62/025,480, filed onJul. 16, 2014. These applications are hereby incorporated by referenceherein.

BACKGROUND Technical Field

This disclosure relates to medical instruments and more particularly toa system and method to track a needle under ultrasound guidance havingdedicated hardware to enable cost-effective tracking.

Description of the Related Art

A biopsy can be described as a minimally invasive procedure where asample of tissue is obtained for ex vivo pathologic analysis. Typically,a biopsy device (or biopsy gun) can comprise an inner stylet and outerhollow cannula, both of which can be attached to the biopsy gun handle.In many instances, the biopsy gun can be a disposable device. A typicalbiopsy device can be positioned in tissue under some form of imageguidance (typically ultrasound (US)) and then ‘fired’. The act of firinggenerally first deploys the inner stylet and then the outer cannula inquick succession, thus capturing a tissue sample in the slot of theinner stylet. The actual location of the biopsy sample can be offsetfrom the resting position of the biopsy device prior to firing.

In many biopsy procedures, disposable biopsy guns are employed. Sincethese are typically designed for one-time use only, incorporatingultrasound sensing technology along with its amplifying andnoise-cancelling electronics on these guns can be complex and relativelyexpensive.

SUMMARY

In accordance with the present principles, a system for tracking amedical device includes an introducer. Two or more sensors are disposedalong a length of the introducer and are spaced apart along the length.An interface is configured to connect to the introducer such that theintroducer and the interface operatively couple to and support themedical device wherein the two or more sensors are configured to providefeedback for positioning and orienting the medical device using medicalimaging.

Another system for tracking a medical device includes an introducer, andtwo or more sensors disposed along a length of the introducer and beingspaced apart along the length. An interface is configured to connect tothe introducer such that the introducer and the interface operativelycouple to and support the medical device wherein the two or more sensorsare configured to provide feedback for positioning and orienting themedical device. An interpretation module is configured to receive thefeedback and generate image information for indicating a position andorientation of the introducer in an image.

A method for tracking a medical device includes providing an introducerwith two or more sensors disposed along a length of the introducer andbeing spaced apart along the length, the introducer being coupled to aninterface; operatively supporting the medical device by the introducerand the interface; and receiving signals from a subject by the two ormore sensors which are configured to provide feedback for positioningand orienting the medical device in a medical image.

These and other objects, features and advantages of the presentdisclosure will become apparent from the following detailed descriptionof illustrative embodiments thereof, which is to be read in connectionwith the accompanying drawings.

BRIEF DESCRIPTION OF DRAWINGS

This disclosure will present in detail the following description ofpreferred embodiments with reference to the following figures wherein:

FIG. 1 is a schematic block/flow diagram showing a system for tracking amedical device which includes sensors in an introducer in accordancewith one embodiment;

FIG. 2 is a timeline and diagram showing a system for tracking a medicaldevice with sensors in an introducer at three instances: before firing,after firing an inner stylet and after firing an outer cannula inaccordance with one embodiment;

FIG. 3 is a schematic block/flow diagram showing a system for tracking amedical device where an interface does not include adaptor electronicsand is disposable in accordance with one embodiment; and

FIG. 4 is a flow diagram showing a method for tracking a medical devicein accordance with an illustrative embodiment.

DETAILED DESCRIPTION OF EMBODIMENTS

In accordance with the present principles, a biopsy introducer isprovided that includes one or more ultrasound sensors. The introducermay include disposable and/or non-disposable configurations. In oneembodiment, an interface clip is provided that attaches the introducerto a biopsy gun handle. The exemplary interface clip can be configuredto retrofit multiple biopsy gun handles in an ergonomic manner. Forexample, in accordance with exemplary embodiments, an interface clip canbe non-disposable (e.g., reusable) and/or disposable. In an exemplarynon-disposable version, the interface clip can include adaptorelectronics (e.g., amplifying and noise-cancelling electronics). Theexemplary introducer in this case can be either non-disposable ordisposable.

In accordance with another exemplary embodiment, the interface clip canbe disposable. In such a case, the exemplary introducer and interfaceclip can be combined into a single hardware design (device), since theycan both be disposable. The interface clip does not need to include theadaptor electronics, as the adaptor electronics can be housedseparately. Benefits of exemplary embodiments can include, but are notlimited to, no requirement to sterilize the adaptor, since, e.g., theadaptor may not come in contact with the patient. In one embodiment, theinterface clip can be attached to the biopsy gun handle. Otherembodiments can be commercialized independently and made compatible withmultiple disposable biopsy needles on the market.

In accordance with exemplary embodiments, dedicated hardware can beemployed to enable cost-effective tracking of a needle or other device.InSitu technology can be utilized for biopsy procedures, withoutmodifying the biopsy gun design. InSitu technology can be employed withcommercially available biopsy guns, for example. A modular design caninterface with the biopsy gun using a combination of non-disposableand/or disposable hardware to employ.

It should be understood that the present invention will be described interms of medical instruments; however, the teachings of the presentinvention are much broader and are applicable to any trackableinstruments. In some embodiments, the present principles are employed intracking or analyzing complex biological or mechanical systems. Inparticular, the present principles are applicable to internal trackingprocedures of biological systems and procedures in all areas of the bodysuch as the lungs, gastro-intestinal tract, excretory organs, bloodvessels, etc. The elements depicted in the FIGS. may be implemented invarious combinations of hardware and software and provide functionswhich may be combined in a single element or multiple elements.

The functions of the various elements shown in the FIGS. can be providedthrough the use of dedicated hardware as well as hardware capable ofexecuting software in association with appropriate software. Whenprovided by a processor, the functions can be provided by a singlededicated processor, by a single shared processor, or by a plurality ofindividual processors, some of which can be shared. Moreover, explicituse of the term “processor” or “controller” should not be construed torefer exclusively to hardware capable of executing software, and canimplicitly include, without limitation, digital signal processor (“DSP”)hardware, read-only memory (“ROM”) for storing software, random accessmemory (“RAM”), non-volatile storage, etc.

Moreover, all statements herein reciting principles, aspects, andembodiments of the invention, as well as specific examples thereof, areintended to encompass both structural and functional equivalentsthereof. Additionally, it is intended that such equivalents include bothcurrently known equivalents as well as equivalents developed in thefuture (i.e., any elements developed that perform the same function,regardless of structure). Thus, for example, it will be appreciated bythose skilled in the art that the block diagrams presented hereinrepresent conceptual views of illustrative system components and/orcircuitry embodying the principles of the invention. Similarly, it willbe appreciated that any flow charts, flow diagrams and the likerepresent various processes which may be substantially represented incomputer readable storage media and so executed by a computer orprocessor, whether or not such computer or processor is explicitlyshown.

Furthermore, embodiments of the present invention can take the form of acomputer program product accessible from a computer-usable orcomputer-readable storage medium providing program code for use by or inconnection with a computer or any instruction execution system. For thepurposes of this description, a computer-usable or computer readablestorage medium can be any apparatus that may include, store,communicate, propagate, or transport the program for use by or inconnection with the instruction execution system, apparatus, or device.The medium can be an electronic, magnetic, optical, electromagnetic,infrared, or semiconductor system (or apparatus or device) or apropagation medium. Examples of a computer-readable medium include asemiconductor or solid state memory, magnetic tape, a removable computerdiskette, a random access memory (RAM), a read-only memory (ROM), arigid magnetic disk and an optical disk. Current examples of opticaldisks include compact disk-read only memory (CD-ROM), compactdisk-read/write (CD-R/W), Blu-Ray™ and DVD.

Further, it should be understood that any new computer-readable mediumwhich may hereafter be developed should also be considered ascomputer-readable medium as may be used or referred to in accordancewith exemplary embodiments of the present invention and disclosure.

Reference in the specification to “one embodiment” or “an embodiment” ofthe present principles, as well as other variations thereof, means thata particular feature, structure, characteristic, and so forth describedin connection with the embodiment is included in at least one embodimentof the present principles. Thus, the appearances of the phrase “in oneembodiment” or “in an embodiment”, as well any other variations,appearing in various places throughout the specification are notnecessarily all referring to the same embodiment.

It is to be appreciated that the use of any of the following “/”,“and/or”, and “at least one of”, for example, in the cases of “A/B”, “Aand/or B” and “at least one of A and B”, is intended to encompass theselection of the first listed option (A) only, or the selection of thesecond listed option (B) only, or the selection of both options (A andB). As a further example, in the cases of “A, B, and/or C” and “at leastone of A, B, and C”, such phrasing is intended to encompass theselection of the first listed option (A) only, or the selection of thesecond listed option (B) only, or the selection of the third listedoption (C) only, or the selection of the first and the second listedoptions (A and B) only, or the selection of the first and third listedoptions (A and C) only, or the selection of the second and third listedoptions (B and C) only, or the selection of all three options (A and Band C). This may be extended, as readily apparent by one of ordinaryskill in this and related arts, for as many items listed.

It will also be understood that when an element such as, e.g., a layer,region or material is referred to as being “on” or “over” anotherelement, it can be directly on the other element or intervening elementsmay also be present. In contrast, when an element is referred to asbeing “directly on” or “directly over” another element, there are nointervening elements present. It will also be understood that when anelement is referred to as being “connected” or “coupled” to anotherelement, it can be directly connected or coupled to the other element orintervening elements may be present. In contrast, when an element isreferred to as being “directly connected” or “directly coupled” toanother element, there are no intervening elements present.

Referring now to the drawings in which like numerals represent the sameor similar elements and initially to FIG. 1, an illustrative biopsysystem 10 is shown in accordance with one embodiment. The system 10includes a biopsy gun 12 configured for needle tracking. The biopsy gun12 includes a biopsy needle 14 having an inner stylet 16 disposed withinan outer cannula 18. The needle 14 is in turn disposed within anintroducer 20. The introducer 20 encapsulates the needle 14. Theintroducer 20 includes one or more tracking sensors 22.

The tracking sensors 22 may include ultrasonic sensors although othertypes of sensors may be employed for tracking the needle 14.

In one embodiment, the introducer 20 is connected with an interface 32.The interface 32 connects the introducer 20 to a biopsy gun handle 24.The interface 32 may include adaptor electronics 26 therein. The adaptorelectronics 26 may include noise cancellation modules 28 (softwareand/or hardware), amplifiers 30 and any another signal processingmodules 34 needed to process received signals from sensors 22.

The sensors 22 function as ultrasound trackers. The introducer 20 andthe sensors 22 may be disposable or non-disposable. In one embodiment,the ultrasound trackers for sensors 22 may include PZT, PVDF, or otherpiezoelectric element disposed between conductive plates or layers. Theinterface or interface clip 32 may be employed to attach the introducer20 to the biopsy gun handle 24. The interface 32 may include the adaptorelectronics 26 and be reusable (non-disposable). In another embodiment,the interface 32 may be made disposable. In another embodiment, theintroducer 20 and interface 32 can be combined into a single disposabledevice. A sensor cable 36 can be provided (although wireless connectionsare also contemplated) as an output from the interface 32 and can beconnected to an adaptor or other connector. The interface 32 may bereusable (non-disposable).

In one embodiment, the introducer 20 includes a hollow tube includingone or more ultrasound trackers or sensors 22 that can be tracked usingInSitu technology. The introducer 20 may have an inner diameter that ismarginally thicker than the cannula 18, thereby permitting the cannula18 and the stylet 16 to fit inside the introducer 20. The length of theintroducer 20 can be approximately equal to the length of the needle 16in its resting position prior to firing. If at least two sensors 22 areemployed, the orientation of the introducer 20 (and also the cannula 18and stylet 16) can be estimated. Therefore, the biopsy locationcoordinates can be computed prior to firing.

The biopsy system 10 may work in conjunction with or be integrated in aworkstation or console 42 from which a procedure is supervised and/ormanaged. Workstation 42 preferably includes one or more processors 44and memory 46 for storing programs and applications. Memory 46 may storean interpretation module 45 configured to interpret feedback signalsfrom sensors 22. Interpretation module 45 is configured to employ thesignal feedback (and any other feedback, e.g., electromagnetic (EM)tracking) to reconstruct position and orientation of the introducer 20or other medical device or instrument. The other medical devices mayinclude a catheter, a guidewire, a probe, an endoscope, a robot, anelectrode, a filter device, a balloon device, or other medicalcomponent, etc.

In one embodiment, workstation 42 includes an image processing module 48configured to receive feedback from the sensors 22 and further processthe information to determine position and orientation of the introducer20 within a volume (subject) 54. An image 50 for the space or volume 54can be generated and displayed on a display device 52 that indicates theposition and orientation of the introducer 20 (and other components) ina live image.

Interpretation module 45 can also be configured to determine anestimated position of where a biopsy sample will be taken in the subject54. The interpretation module 45 may convey this information to theimage processing module 48 to generate an image showing a location ofthe estimated position to assist a user. The image may include a line orother shape to provide a visual indicator (see FIG. 2, estimatedposition 104).

Workstation 42 includes the display 52 for viewing internal images of asubject (patient) or volume 54 and may include the image as an overlayor other rendering of the sensors 22, introducer 20, needle 14, etc.Display 52 may also permit a user to interact with the workstation 42and its components and functions, or any other element within thesystem.

This is further facilitated by an interface 60 which may include akeyboard, mouse, a joystick, a haptic device, or any other peripheral orcontrol to permit user feedback from and interaction with theworkstation 42.

An imaging system 70 is provided for imaging the introducer 20 forguidance and positioning. In one embodiment, the imaging system 70includes an ultrasound imaging system, which employs an imaging probe72. The imaging probe 72 provides ultrasonic energy, which is receivedby the sensors 20. The sensors 20 are electrically connected (by wires,not shown, or wirelessly) to the adaptor electronics 26 for signalprocessing and amplification. The adaptor electronics 26 may in turn beconnected to the workstation 42 where the interpretation module 45further processes the signals, registers the introducer 20 (and othercomponents) to the images collected by the imaging system 70. While theimaging system 70 is described as an ultrasound imaging system 70, otherimaging technologies may be employed.

Referring to FIG. 2, an illustrative timeline 100 is shown for a biopsyprocedure that employs the introducer with sensors in accordance withthe present principles. In a first instance 102, a biopsy needle 14 isloaded in a ready-to-fire position. Using two or more sensors 22 on theintroducer 20, the orientation of the introducer 20 and therefore theneedle 14 will be known. An estimated biopsy location 104 may bedetermined based upon the needle/introducer orientation and a knownthrow of the inner stylet 16 relative to the outer cannula 18. In otherwords, the estimated location 104 can easily be estimated using thepositions of the sensors 22 as a baseline and adding the throw of theinner stylet 16 in the direction of the introducer 20. The estimatedbiopsy location 104 may be indicated in an image to assist the user.

The sensors 22 may include ultrasound sensors. In this case, anultrasound probe transmits signals that are received by the sensors 22.Using time of flight information and knowledge of the coordinate systemof the subject, positions of the sensors 22 (and therefore introducer 20and the needle 14) can be determined in the ultrasound space and theestimated location 104 determined.

In a second instance 110, the inner stylet 16 is fired. The inner stylet16 rapidly advances to the throw extent to capture a biopsy sample in achamber 106 of the inner stylet 16 that corresponds with the estimatedposition 104. In a third instance 120, the outer cannula 18 is advancedto shear off the biopsy sample in the chamber 106 and enclose thechamber 106 to safely remove the biopsy sample from the subject.

Referring to FIG. 3, another embodiment of a biopsy system 200 isillustratively shown. Biopsy system 200 includes a disposable interface232. The interface 232 is attached to an introducer 220 such that theinterface 232 and the introducer 220 are removable and disposable from abiopsy gun handle 212.

The biopsy gun 212 is configured for needle tracking. The biopsy gun 212includes a biopsy needle 214 having an inner stylet 216 disposed withinan outer cannula 218 as described above. The needle 214 is, in turn,disposed within the introducer 220, which may include a hollow tubeintroducer 220 to encapsulate the needle 214. The introducer 220includes one or more tracking sensors 222 (e.g., on the inside diameterof the tube, although the sensors 222 may be mounted on an exterior ofthe introducer 220). The tracking sensors 222 may include ultrasonicsensors although other types of sensors may be employed for tracking theneedle 214.

In one embodiment, the introducer 220 may be integrally formed with theinterface 232 or the interface 232 may be a separate part that connectsto the introducer 220. The interface 232, since it is disposable, may ormay not include adaptor electronics therein. The adaptor electronics maybe included in a separate module 228 for noise cancellation, amplifiers,etc. to process received signals from sensors 222.

The sensors 222 may include one or more ultrasound trackers. Theintroducer 220 and the sensors 222 may be disposable. In one embodiment,the ultrasound trackers for sensors 222 may include PZT, PVDF, or otherpiezoelectric element disposed between conductive plates or layers. Theinterface 232 may be employed to attach the introducer 220 to the biopsygun handle 224. The interface 232 may include the adaptor electronicsand be reusable (non-disposable), although a disposable embodiment mayinclude a reusable adaptor electronics module 228. In this instance, theinterface 232 is disposable and the adaptor electronics 228 are notdisposable. A cable 234 can be provided as an output from the sensors222 and can be connected to the adaptor electronics module 228 or otherconnector or system, e.g., a system employing InSitu technology (seee.g., FIG. 1).

The interface 232 may include an opening 240 to receive the introducer220. When the introducer 220 is fitted into the interface 232, anelectrical connection is completed between a wire or wires of thesensors 220 through the introducer 220 and to the cable 234 from theinterface 232. The introducer 220 can be disposable or non-disposablewith the sensors 222 and their wiring. The adaptor electronics can thenbe housed separately (module 228) so that it does not come in contactwith the subject (e.g., the patient).

Referring again to FIG. 1 with continued reference to FIG. 3, the use ofultrasound tracking technology (InSitu) can be utilized to moreaccurately estimate a true location of the biopsy sample. For example,InSitu technology can be used to estimate the position of a passiveultrasound sensor (e.g., PZT, PVDF, copolymer or other piezoelectricmaterial) in a field of view (FOV) of a diagnostic B-mode image byanalyzing a signal received by a sensor as beams of the imaging probesweep the FOV. Time-of-flight measurements can be used to provide theaxial/radial distance of the sensor 22 (FIG. 1) or 222 from the imagingarray of the ultrasound system, while amplitude measurements andknowledge of the beam firing sequence can be used to provide (ordetermine) the lateral/angular position of the sensor 22, 222. When usedwith 3D transducers (e.g., 2D matrix arrays) (US imaging probe), theelevational position of the sensor 22, 222 can also be obtained in asimilar manner. Therefore, the 3D position of the sensor 22, 222 can beestimated in real-time, provided it is present within the FOV of theimaging transducer.

The sensors 22, 222 on the introducer 20, 220 passively listen to theultrasound waves impinging on them as the imaging probe's beams sweepthe field of view. Analysis of these signals yields the position of thesensor 22, 222 on the introducer 20, 220 in the frame of reference ofthe ultrasound image. The position can then be overlaid on an ultrasoundimage for enhanced visualization, and the positions and their historiescan be logged for tracking, segmentation, and other applications.

Embodiments in accordance with the present principles can be madecompatible with multiple biopsy needles on the market. In addition, theintroducers described herein may be employed in procedures other thanbiopsy procedures. For example, the present principles may be employedfor ablation needle guidance, catheter guidance, endoscopic procedures,etc. Moreover, it is contemplated that corresponding and/or relatedsystems incorporating and/or implementing the present principles arealso contemplated and considered to be within the scope of the presentinvention. Further, corresponding and/or related methods formanufacturing and/or using a device and/or system in accordance with thepresent disclosure are also contemplated and considered to be within thescope of the present invention.

Referring to FIG. 4, a method for tracking a medical device isillustratively shown. In block 302, an introducer is provided with twoor more sensors disposed along a length of the introducer. The sensorsare spaced apart from adjacent sensors along the introducer to assist inproviding position and orientation information for tracking theintroducer. The introducer is coupled to an interface at one endportion. In block 306, the medical device is operatively supported bythe introducer and the interface. This means that, e.g., if the medicaldevice includes a biopsy needle, the needle fits within the introducerand is operable (e.g., can be fired) from the introducer. In addition,the interface supports the introducer by providing a mechanical supportbetween the biopsy gun and the introducer. Other configurations are alsocontemplated.

In block 310, signals are received from a subject by the two or moresensors, which are configured to provide feedback for positioning andorienting the medical device in a medical image. In block 312, thefeedback signals are processed using adaptor electronics configured toconnect to the sensors and provide noise cancellation, amplify thesignals, filter the signals, etc.

In block 314, the introducer and therefore the medical device ispositioned in a field of view of an image and aligned with a biopsysample or other target using the feedback signals.

In block 316, the medical device may include a biopsy gun including aneedle with an inner stylet and an outer cannula. An estimate positionof a biopsy sample may be determined based upon a position andorientation of the introducer. The estimate position may be manuallydetermined or may be computed using an interpretation module (FIG. 1).In block 318, an image may be generated on a display to show theestimate position based upon the position and orientation of theintroducer. The image may include an indicator, such as an arrow, shape,line, etc. or may include an overlay or a virtual image. In block 320,operative tasks are performed, for example, fire the biopsy gun, takethe biopsy sample, etc. In block 322, one or more of the introducer, theinterface, the medical instrument may be disposed. In one embodiment,the introducer is disposable and the interface is reusable. In anotherembodiment, the introducer and the interface are disposed of as a singleunit or integrated assembly. The interface may or may not includeadaptor electronics.

In interpreting the appended claims, it should be understood that:

-   -   a) the word “comprising” does not exclude the presence of other        elements or acts than those listed in a given claim;    -   b) the word “a” or “an” preceding an element does not exclude        the presence of a plurality of such elements;    -   c) any reference signs in the claims do not limit their scope;    -   d) several “means” may be represented by the same item or        hardware or software implemented structure or function; and    -   e) no specific sequence of acts is intended to be required        unless specifically indicated.

Having described preferred embodiments for ultrasound tracking apparatusfor disposable biopsy needles (which are intended to be illustrative andnot limiting), it is noted that modifications and variations can be madeby persons skilled in the art in light of the above teachings. It istherefore to be understood that changes may be made in the particularembodiments of the disclosure disclosed which are within the scope ofthe embodiments disclosed herein as outlined by the appended claims.Having thus described the details and particularity required by thepatent laws, what is claimed and desired protected by Letters Patent isset forth in the appended claims.

1. A system for tracking a needle of a biopsy gun having a handle, thesystem comprising: an introducer having a hollow tube configured toreceive the needle of the biopsy gun within the hollow tube; a pluralityof sensors disposed along a length of the introducer and spaced apartalong the length, wherein the plurality of sensors are configured toprovide feedback on position and orientation of the introducer; and aninterface clip configured to: (i) attach to the handle of the biopsy gunand (ii) connect to the introducer such that the interface clip with theconnected introducer operatively couples to and supports the biopsy gun.2. The system as recited in claim 1, wherein the sensors are disposedwithin the hollow tube.
 3. The system as recited in claim 1, wherein theintroducer connects to the interface clip and at least one of theintroducer and the interface clip is disposable.
 4. The system asrecited in claim 1, wherein the introducer is integrated with theinterface clip to form a disposable assembly.
 5. The system as recitedin claim 1, wherein: each of the plurality of sensors includes anelectrical connector; and the interface clip is configured toelectrically couple each electrical connector to adaptor electronicsconfigured to adapt a signal from the corresponding sensor.
 6. Thesystem as recited in claim 5, wherein the adaptor electronics areconfigured to provide amplification, noise cancellation, and/or otheradaptive signal processing of the signal.
 7. The system as recited inclaim 6, wherein the adaptor electronics are integrated as a physicalpart of the interface clip.
 8. The system as recited in claim 6, whereinfurther adaptor electronics are included in a module external to theinterface clip.
 9. The system as recited in claim 1, wherein theinterface clip defines and surrounds an opening, wherein the opening isconfigured to receive and fit the introducer.
 10. The system as recitedin claim 1, further comprising an interpretation processor configured toreceive the feedback and, based on the feedback, generate imageinformation indicating position and orientation of the biopsy gun in animage.
 11. The system as recited in claim 10, wherein the interpretationprocessor is further configured to estimate position of a biopsy samplebased on the position and orientation of the biopsy gun.
 12. The systemas recited in claim 11, wherein the image processor is configured togenerate an image of the estimated position of the biopsy sample basedon the image information.
 13. The system as recited in claim 1, whereinthe needle of the biopsy gun comprises an inner stylet and an outercannula.
 14. A method for tracking a needle of a biopsy gun having ahandle, the method comprising: providing an introducer with a pluralityof sensors disposed along a length of the introducer and spaced apartalong the length, the introducer being configured as a hollow tube toreceive the needle of the biopsy gun within the hollow tube; connectingthe introducer to an interface clip; attaching the interface clip to thehandle of the biopsy gun such that the interface clip with the connectedintroducer operatively couples to and supports the biopsy gun; andreceiving signals, from the plurality of sensors, configured to providefeedback on the position and orientation of the introducer.
 15. Themethod as recited in claim 14, wherein: each of the plurality of sensorsincludes an electrical connector; and the interface clip is configuredto electrically couple each electrical connector to adaptor electronicsconfigured to adapt a signal from the corresponding sensor.
 16. Themethod as recited in claim 15, further comprising providing, by theadaptor electronics, amplification, noise cancellation, and/or otheradaptive signal processing of the signal.
 17. The method as recited inclaim 16, wherein the adaptor electronics are integrated as a physicalpart of the interface clip.
 18. The method as recited in claim 16,wherein further adaptor electronics are included in a module external tothe interface clip.
 19. The system as recited in claim 1, furthercomprising: receiving the feedback and, based on the feedback,generating image information indicating a position and orientation ofthe biopsy gun in an image; estimating position of a biopsy sample basedupon the position and orientation of the biopsy gun; and generating animage of the estimated position of the biopsy sample based on the imageinformation.